CN110145582B

CN110145582B - A bidirectional drive mechanism for wire-driven flexible bodies

Info

Publication number: CN110145582B
Application number: CN201910463899.3A
Authority: CN
Inventors: 别东洋; 韩建达
Original assignee: Nankai University
Current assignee: Nankai University
Priority date: 2019-05-30
Filing date: 2019-05-30
Publication date: 2021-07-23
Anticipated expiration: 2039-05-30
Also published as: CN110145582A

Abstract

A bidirectional driving mechanism for a wire driving flexible body relates to a driving device, which comprises a shell, a wire disc, a fixing piece and a driving wire; two circles of wire grooves are processed on the outer peripheral surface of the wire disc, two sections of arc-shaped gaps are formed in the peripheral side surface of the shell, the shell is sleeved on the wire disc, the gaps correspond to the wire grooves, fixing holes are formed in the wire grooves, the fixing pieces are installed in the fixing holes and used for fixing one end of a driving wire wound in the wire grooves, and the other end of the driving wire is led out from the gaps. The invention has reliable operation, controllable operation and simple structure.

Description

Bidirectional driving mechanism for wire-driven flexible body

Technical Field

The invention relates to a driving device, in particular to a bidirectional driving mechanism with single degree of freedom for driving a flexible body through a wire.

Background

At present, for a flexible body driven by wires, two tension wires are used for cooperative driving in the same degree of freedom, and how to ensure the cooperative motion of the two driving wires in the motion process is a crucial ring for ensuring the normal work of the flexible body. The existing drive at present mainly adopts servo cooperation, each wire is provided with one set of servo drive system, the structure increases the number of motors and actuating mechanisms, and meanwhile, accumulated errors of transmission are inaccurate, so that the two ends are difficult to balance, and the reliability is reduced.

Disclosure of Invention

The invention provides a bidirectional driving mechanism for driving a flexible body by a wire, which has the advantages of reliable operation, controllable operation and simple and convenient structure, and overcomes the defects of the prior art.

The technical scheme of the invention is as follows:

a bidirectional driving mechanism for a wire driving flexible body comprises a shell, a wire disc, a fixing piece and a driving wire;

two circles of wire grooves are processed on the outer peripheral surface of the wire disc, two sections of arc-shaped gaps are formed in the peripheral side surface of the shell, the shell is sleeved on the wire disc, the gaps correspond to the wire grooves, fixing holes are formed in the wire grooves, the fixing pieces are installed in the fixing holes and used for fixing one end of a driving wire wound in the wire grooves, and the other end of the driving wire is led out from the gaps.

Further, the driving wire is a steel wire or a steel wire rope or a flexible rope.

Furthermore, the fixing piece is of a stepped columnar structure matched with the fixing hole, the top surface of a large-diameter column body of the stepped columnar structure is lower than the top of the wire groove, and one end of the driving wire is fixed at the end part of the large-diameter column body of the stepped columnar structure.

Furthermore, the small-diameter hole of the fixing hole is an internal thread, the large-diameter hole of the fixing hole is a via hole, an external thread is processed on the outer side face of the small-diameter column of the stepped columnar structure, the small-diameter column is connected with the small-diameter hole through threads, and the large-diameter column is arranged in the large-diameter hole.

Compared with the prior art, the invention has the following effects:

the invention adopts a rotary drive to simultaneously control two driving wires, and ensures the synchronous control of the two driving wires in opposite directions through a mechanical mode. When the wire disc rotates, the two driving wires synchronously extend and contract in opposite directions at the same time and length, so that the strict requirement that the executing end of the flexible body synchronously moves in opposite directions is met. Compared with the prior art, the driving is completed by increasing the number of the motors and the executing mechanisms, the reliability is good, and the accumulated transmission error is eliminated.

The present invention will be described in detail below with reference to the accompanying drawings and examples.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;

FIG. 4 is a cross-sectional view with the driver disposed;

FIG. 5 is a schematic perspective view of a filament reel;

FIG. 6 is a front view of the wire reel;

FIG. 7 is a cross-sectional view taken along line C-C of FIG. 6;

FIG. 8 is a perspective view of the housing;

FIG. 9 is a front view of the housing;

FIG. 10 is a schematic partial cross-sectional view of a drive wire being threaded therethrough;

FIG. 11 is a view showing an operation state in which the wire reel rotates counterclockwise;

fig. 12 is a working state diagram of the wire disc rotating clockwise.

Detailed Description

Referring to fig. 1-10, a bi-directional drive mechanism for a wire driven flexible body includes a housing 1, a wire reel 3, a fixed member 2, and a drive wire 4;

two circles of wire grooves 31 are processed on the outer peripheral surface of the wire disc 3, two sections of arc-shaped gaps 11 are formed in the peripheral side surface of the shell 1, the shell 1 is sleeved on the wire disc 3, the gaps 11 correspond to the wire grooves 31, fixing holes 32 are formed in the wire grooves 31, the fixing pieces 2 are installed in the fixing holes 32 and used for fixing one end of a driving wire 4 wound in the wire grooves 31, and the other end of the driving wire 4 is led out from the gaps 11.

In the above embodiments, the wire reel 3 and the housing 1 are both circular structures, and in one possible embodiment, the driving wire 4 is a steel wire or a steel wire rope or a flexible rope. The use is convenient and reliable. In the rotation process of the wire disc 3, the shell 1 sleeved on the wire disc 3 can do relative rotation movement with the wire disc 3 in the action process of the driving wire 4;

referring to fig. 3 and 4, in another embodiment, the fixing member 2 is a stepped cylindrical structure which is engaged with the fixing hole 32, the top surface of the large diameter cylindrical body of the stepped cylindrical structure is lower than the top of the wire groove 31, and one end of the driving wire 4 is fixed to the end of the large diameter cylindrical body of the stepped cylindrical structure.

Preferably, the small diameter hole of the fixing hole 32 is an internal thread, the large diameter hole of the fixing hole 32 is a via hole, an external thread is processed on the outer side surface of the small diameter column of the stepped columnar structure, the small diameter column is connected with the small diameter hole through a thread, and the large diameter column is arranged in the large diameter hole. So set up, make things convenient for the installation of mounting 2 to use, also be convenient for drive wire 4's is fixed.

Referring to fig. 9, in still another embodiment, the circular arc slit 11 corresponds to a central angle β of 80 ° to 85 °. So set up, the guide of driving wire 4 is satisfied in the gap of certain arc length, and at wire reel 3 rotation in-process, wire reel 3 and shell 1 can satisfy relative rotation.

For the convenience of material taking and use, the shell 1 and the wire disc 3 are both made of plastic or stainless steel materials.

A plurality of mounting holes 33 for connecting with a driving source flange are processed on the disc surface of the wire disc 3 along the circumferential direction. The installation hole 33 is convenient for the wire disc 3 to be fixed with the external driving source flange plate, so that the rotation of the wire disc 3 is realized, and further, the purpose of realizing single-degree-of-freedom bidirectional driving on the flexible body is achieved. The flexible body for use may be an end effector for single port laparoscopic surgery.

The working principle is as follows: fig. 11 and 12 illustrate the operation principle of the bidirectional driving mechanism for wire driving the flexible body, in which two driving wires 4 are wound in opposite directions in two parallel wire grooves 31 of the wire reel 3, respectively, one ends of the two driving wires 4 are fixed to the wire reel 3 by the fixing member 2 shown in fig. 4 and 10, and the other ends are connected to the executing end of the flexible body with the same degree of freedom, respectively. When the wire disc 3 is driven by the flange plate of the driving source to rotate, the two driving wires 4 are extended and contracted in opposite directions synchronously in time and length, and the strict requirement that the execution end of the flexible body moves in opposite directions synchronously by the two driving wires 4 is ensured. The method specifically comprises the following steps: fig. 11 shows the wire reel 3 rotated counterclockwise when viewed from the direction away from the driving source flange, point B in fig. 11 being the fixing point of the driving wire 4 on the fixing member 2, the driving wire 4 corresponding to the arrow at the upper end in fig. 10 extending outward is relaxed (corresponding to the left drawing in fig. 11), and the driving wire 4 corresponding to the arrow at the upper end in the inward direction is wound tightly (corresponding to the right drawing in fig. 11);

fig. 12 shows the wire reel 3 rotated clockwise when viewed from the direction away from the drive source flange, point B in fig. 12 being the fixing point of the drive wire 4 on the fixing element 2, the drive wire 4 corresponding to the arrow at the upper end in fig. 10 being wound tightly (corresponding to the left drawing in fig. 12) and the drive wire 4 corresponding to the arrow at the upper end in fig. 10 being unwound and loosened (corresponding to the right drawing in fig. 12).

The present invention is not limited to the above embodiments, and any simple modification, equivalent change and modification made by the technical essence of the present invention by those skilled in the art can be made without departing from the scope of the present invention.

Claims

1. A bidirectional drive mechanism for a wire-driven flexible body, characterized in that: it comprises a casing (1), a wire reel (3), a fixing member (2) and a driving wire (4); Two circles of wire grooves (31) are machined on the outer peripheral surface, two arc-shaped slits (11) are set on the peripheral side of the outer casing (1), and the outer casing (1) is sleeved on the wire disc (3) and the two can rotate relative to each other. (11) Corresponding to the wire groove (31), the wire groove (31) is provided with a fixing hole (32), and two driving wires ( 4), the fixing member (2) is installed in the fixing hole (32) for fixing one end of the driving wire (4) wound in the wire groove (31), and the other ends of the two driving wires (4) extend from the gap (11). ) leads to the flexible body.

2 . The bidirectional driving mechanism for a wire-driven flexible body according to claim 1 , wherein the driving wire ( 4 ) is a steel wire rope or a flexible rope. 3 .

3. A bidirectional driving mechanism for a wire-driven flexible body according to claim 2, characterized in that: the fixing member (2) is a stepped columnar structure matched with the fixing hole (32), and the stepped columnar The top surface of the large-diameter cylinder of the structure is lower than the top of the wire groove (31), and one end of the driving wire (4) is fixed to the end of the large-diameter cylinder of the stepped columnar structure.

4. A bidirectional driving mechanism for a wire-driven flexible body according to claim 3, characterized in that: the small diameter hole of the fixing hole (32) is an internal thread, and the large diameter hole of the fixing hole (32) is a conduction The outer surface of the small-diameter column of the stepped columnar structure is processed with an external thread, the small-diameter column and the small-diameter hole are connected by threads, and the large-diameter column is arranged in the large-diameter hole.

5 . The bidirectional driving mechanism for a wire-driven flexible body according to claim 4 , wherein the central angle corresponding to the arc-shaped slit ( 11 ) is (β) of 80°-85°. 6 .

6 . The bidirectional driving mechanism for a wire-driven flexible body according to claim 5 , wherein the casing ( 1 ) and the wire disc ( 3 ) are made of plastic or stainless steel. 7 .

7. A bidirectional driving mechanism for a wire-driven flexible body according to claim 6, characterized in that: the disc surface of the wire disc (3) is circumferentially machined with multiple mounting holes (33).